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工业机器人外文翻译
附录外文文献
原文
IndustｒialRoｂoｔｓ
Defiｎｉtiｏｎ
“Arobｏtisarepｒｏgｒａmｍabｌe,muｌtiｆuncｔionａlｍachineｄｅsignedtoｍanipulaｔe materｉals，partｓ,ｔｏoｌs,orspeciａlizeddeｖicｅs,thrｏughvariabｌe pｒｏgｒａmmed motionsfor thepｅrｆorｍaｎceofaｖａriety oftａsks．"
-－RoboticsＩndustrieｓAｓｓoｃiaｔion
“Arobotiｓan ａutomatiｃ ｄevｉcethatｐeｒforｍｓ ｆuｎｃｔiｏnsnｏrｍalｌyascriｂrd tｏhuｍａnsｏrａmachine iｎｏrｍofaｈuman."
-—ＷｅbstｅｒsDictiｏnaｒy
Thｅiｎdustrialrobotｉs uｓedintｈｅmａnufａcturingｅnvironmｅnttｏincreaseprｏducｔiｖｉｔy．Iｔcanbeusedtｏ ｄoroutiｎｅ andｔedｉousasseｍｂlyｌinejｏbｓ ，or it caｎ perｆormjoｂs thａtmｉghtbe ｈaｚardous todorｏutineandteｄiousａsｓemblyliｎejobs，ｏritcanpeｒforｍ ｊｏbsｔｈaｔmiｇhtbｅhazaｒｄous toｔｈehumaｎ worker。
Ｆｏｒeｘampｌe ，oneｏfthefiｒstinｄustrialrｏbotswas usedｔoreplａcethｅnucｌearfueｌrodsinnｕｃｌeａrpｏwｅrｐlantｓ。
Ahuｍａｎｄｏingtｈｉsjob mｉghtｂｅ eｘpoｓedtoharmfｕｌamoｕnｔs oｆraｄiaｔion．Ｔｈeiｎdustｒｉal robotcanａｌsooperａte ｏｎｔhｅassemｂlyline ，ｐutting togeｔhersｍａｌlcomｐonents，suchaspｌaｃiｎg eｌectroｎｉc ｃｏmponentsonaprｉntｅd ciｒcuiｔboａrｄ. Tｈus ，thehｕmanｗorkeｒｃanbeｒelｉeｖｅdofthe roｕｔｉne oｐｅｒaｔioｎofthｉs tedｉousｔａsk。
Roboｔscan aｌsobeproｇraｍmeｄtｏ defｕｓｅbombｓ ，tｏserｖｅthehandiｃapped,andtoperｆｏrmｆunｃtiｏnsinｎumeｒouｓ ａpｐlicatｉonsinoｕrsｏciety.
Ｔheｒｏbot cａｎbeｔｈoughtofasａmaｃｈine thａｔwiｌｌmｏvean eｎd-oｆ－armtool ， senｓor,and gｒｉppertｏ aｐreprogrammｅdloｃａｔｉoｎ. Whenｔherｏbotａｒriｖesａt thｉsｌocation,itwilｌ perfoｒmsomesortof ｔask．Thｉstａｓｋcoｕｌｄbewelding，seａlinｇ，machｉnｅ ｌoadinｇ ,maｃｈine uｎlｏaｄｉng,orahosｔofaｓsemblyjobs ．Generａllｙ,thisｗork ｃanbｅaｃcｏｍplisheｄwithoutｔheｉnｖoｌvementoｆａhumanbeｉnｇ , excｅptfｏｒprogｒaｍｍingaｎdｆoｒｔuｒｎiｎg tｈeｓysteｍonandoff.
Ｔheｂａsｉcｔermｉnoｌogyoｆｒobｏtｉcsystems ｉｓintroｄｕcedin ｔhe following ：
1． Ａroboｔiｓａreproｇramｍable，ｍultiｆunｃtionaｌmaniｐulaｔorｄesignedtｏ ｍｏveｐartｓ,mateｒialｓ，tｏols，orspeｃiａlｄevices ｔhroughvariable ｐroｇrammｅdmotｉｏnsfoｒｔheｐeｒformanceｏfａ variｅtyｏf diｆfeｒｅnt tasｋ.Thｉs ｂaｓicdeｆinｉtion leａdstｏoｔhｅｒdefinitiｏns,ｐresｅｎteｄ inｔheｆollowiｎg pａragrａpｈs, tｈatｇｉveａcomplete ｐictｕreofaroboｔiｃｓysｔeｍ ．
2．Preprogrammｅd lｏcａtionｓarepaｔｈstｈat thｅ rｏbotmustfollｏwｔoaccｏmplｉshwork.Atsoｍeoｆthese loｃaｔｉｏns， ｔhｅrobｏｔ ｗｉllstopａｎd pｅrｆormsoｍeopｅratｉon， ｓｕcｈaｓassemblyofpaｒｔs ,spraｙpaintｉnｇ,ｏrwｅldiｎg. Theｓeprepｒogrammeｄ loｃatｉoｎs arestorｅd in ｔheroboｔ’smemoryａnｄaｒereｃａllｅdlaterfｏｒcontinuｏｕsoｐeratｉon．Ｆurthｅｒmｏre，thｅｓepreprograｍｍeｄlｏｃａｔｉoｎs,ａsweｌl asotｈerｐroｇrａｍdａta，can becｈａｎged lａterａｓthｅworｋreqｕirementｓchａnｇe .Thｕs，withrｅｇａrd ｔoｔhiｓｐroｇｒamｍｉｎg ｆeａture，an indｕsｔｒialroｂot is veｒy mｕchｌike ａ computｅr ，wｈeｒedａtａcanｂestorｅd ａndlａtｅrｒeｃalleｄａｎd edited.
3． Ｔhｅ ｍanｉpulａｔｏｒ isthe ａｒmofthｅrｏｂot.Iｔallowsthe ｒｏｂotｔoｂｅnd， ｒeacｈ， aｎｄtwisｔ 。
Thismovementｉsprovidedby themaniｐulａｔｏr’s axeｓ,alsocａｌledthｅdegrｅesof freｅdoｍｏftherobｏt。
Ａrobotｃan haｖｅfrom 3to 1６axes.Tｈetｅｒｍdegreesoffrｅｅｄomof fｒeeｄomwill alwａys relａtｅｔotｈenuｍbeｒｏf axｅsfouｎd ｏnａroｂｏt．
４。
The toolinganｄgrippersarｅnotpartoftｈeｒobｏtｉcsystemitｓeｌf; rather, thｅyare aｔｔacｈmentsthatfitonｔｈｅ ｅndｏｆtherｏboｔ’sarm ．Theｓｅaｔｔachmｅｎtsｃｏnｎｅcｔｅd to ｔheｅnd of ｔherobｏt’ｓarｍａllｏwtｈeｒｏbot tolｉft parｔｓ ，ｓpoｔ—welｄ，pａiｎt， arｃ-ｗeｌd ,ｄrill ，debuｒr，anｄｄoavarietyoftａskｓ , dependiｎg oｎ whatisrｅquｉｒeｄ ofｔｈerｏbot .
5.Theroboｔicsystemcａnalsocontroｌ ｔhｅwork ｃelloｆtｈeopeｒatingrobot。
theworkcelloｆtheｒｏboｔ iｓtｈetｏtaｌenviｒoｎmｅｎtin ｗhiｃhthe ｒｏbotmｕｓｔｐerformｉtstask。
Includedwithinｔhis cellｍayｂe thecoｎｔｒoller, theｒoboｔmａniｐuｌatoｒ, ａ wｏrktable,sａfetyfeaｔurｅｓ ，oｒ acｏnｖeｙor 。
Aｌltheeｑｕipｍentthatisreqｕiｒedｉn ordeｒfor the robｏttｏdoiｔsjob isｉｎcｌｕdｅdintheｗorkceｌl. Iｎaddition，signaｌｓｆromoutside dｅviｃes cancommｕｎicatewｉththeroboｔ inoｒdｅrｔotｅｌlthｅrｏbｏtwｈｅniｔshoulｄassembleparｔs, picｋupｐａｒts,orｕnlｏadpartstoaｃonveyor．
Ｔherobotｉcｓystemhａｓｔhreｅbaｓiｃcoｍponents：
thｅmａnｉpｕlａtor , the ｃoｎtroｌlｅr,andthｅpowersｏurce ．
Ａ 。
Ｍanｉｐｕｌatoｒ
Themanipulａtｏr，ｗhicｈdoｅｓ tｈｅpｈｙsicａlwｏrkofthｅrobotｉcsysteｍ , ｃonsistsoftwosectionｓ：
themechaｎｉcalsectionandｔheattａｃheｄappendａge. Tｈemaniｐulａtoralｓohasａbasｅ tｏｗhｉchtｈeappendagesａreaｔtacｈed.Fｉg.1illustｒateｓｔhｅcoｎnecｔionoftｈｅbａsｅanｄ tｈｅaｐｐｅndａgeoｆaroｂot .
The bａse ｏfthemanｉｐuｌatoｒ isuｓuallyfixｅdtotheflooｒ of thewｏｒｋ ａrｅa。
Ｓometiｍeｓ，ｔhｏｕgｈ，the bａsemａybｅmｏvable .Iｎｔｈｉs ｃaｓe ， thｅbaｓｅｉs attachedto eithｅｒ ａrailoｒatｒａck ， ａllowinｇｔhe manipuｌaｔortobeｍovｅｄfｒoｍone loｃａtion ｔoaｎother．
As meｎｔioneｄprｅviouｓlｙ，ｔheappeｎｄａｇｅｅｘtendｓ from thebase ｏfｔherobｏt.Ｔheapｐｅｎｄaｇｅis theaｒmoftherobot。
Iｔｃanｂｅｅiｔherastraight ，mｏｖableａｒmｏrajｏｉntedａrｍ．ｔhｅjｏintｅdarｍｉsaｌsｏｋnownasaｎａrticulatedarm.
Tｈｅ appenｄagｅｓoｆtherｏbotmａnipulatorgiｖe tｈe manｉpulａtoｒitsvａrｉｏｕsａｘes ofmｏｔion．Theseaxeｓ arｅａttachedtoafｉxedｂaｓe,whiｃh，inｔurn , iｓsｅｃured to ａ ｍoｕｎｔiｎｇ. Ｔhisｍouｎtingeｎsuresthaｔｔhemanipulaｔｏrｗiｌl ｒemaiｎｉnonelｏcatｉon。
Atｔhｅ enｄoftheａrm，awrisｔ ｉs connecｔed．Tｈewrｉstis ｍadeuｐof ａdditｉｏnaｌ axｅs and ａ wrｉｓtｆlａnｇｅ。
Thｅｗristflａｎgeａlｌｏｗsthe robot uｓeｒtoconnectｄｉfferｅnt tooling ｔo thｅwriｓｔfordiffeｒentｊobs。
Ｔhemａｎｉpuｌatｏr’s ａxesalｌowitto perfｏrｍworkwiｔhin aceｒtaiｎareａ.Thisａreaiscallｅdｔｈe ｗoｒkcelｌofthe rｏbot, andｉtsｓｉzecorｒesｐｏndｓｔotｈeｓizeofthemａnｉpulaｔor．Fig。
2illｕｓtratesｔhewoｒkceｌlofａtyｐicalasseｍbｌy robｏｔ 。
As therｏｂｏt’spｈyｓｉｃal sizeincｒeasｅｓ ,ｔｈesｉzeoｆtｈｅworkceｌlmustalsｏ increaｓe 。
Thｅ ｍovemeｎｔoｆthemaｎｉｐuｌatoris controｌleｄbｙａctuatoｒs ,or driveｓystems。
Tｈｅactuａｔors,ordriｖesysteｍ ,aｌｌowsthe variousaｘｅstｏmovewiｔｈinthewｏrkｃell .The ｄrive systemcａnuseeｌectric,hｙdrauｌic，oｒpneumatiｃpｏweｒ 。
Tｈeenergyｄevｅloｐedbyｔhｅ drive sｙsｔｅmiｓcｏnveｒｔeｄtomechanical pｏwer byｖaｒiousmｅｃhaｎiｃaldｒivesysteｍs。
Thedriveｓｙsｔems aｒecｏuｐledｔｈroｕgh mecｈanicallinｋaｇes．Ｔhese liｎkagｅs，ｉｎ ｔuｒｎ,dｒiveｔhｅ differｅntaxesoｆｔherobot．Theｍechaｎiｃallinkagｅsmaybｅ composedofchains, gearｓ,andｂａｌlｓcrｅｗs．
B.Contrｏlｌeｒ
Tｈe coｎtrolｌeriｎthｅｒoｂoｔicsyｓtｅｍistｈｅhearｔofｔｈeopeｒａtion.Theconｔrｏlｌｅrsｔorｅs preprogｒaｍmeｄiｎformａtｉｏｎfｏrlａｔｅｒ rｅcalｌ，coｎtrolｐｅrｉｐheｒal dｅvices,aｎdcomｍｕnｉｃａtｅｓwｉthcomｐuterswithin ｔheplaｎｔforcｏnstantｕpdａｔesiｎpｒoductｉｏn
The contｒoｌｌeｒsis usedtｏｃonｔroltheｒobotmanipｕlatｏr'smoｖemｅｎtsaｓweｌl astocontrｏl ｐerｉpheralcomｐonentswithiｎthｅｗorｋ ｃeｌl.Tｈｅｕsercanｐrogram the mｏｖementｓ ｏftｈe manipｕｌaｔorinto theconｔｒollerｔｈrough tｈe ｕseofahand-heｌｄteach pendent．Thiｓiｎｆｏrmaｔionis ｓｔoｒeｄinthe ｍemoryofｔheconｔrollerfor laterrecaｌｌ.Theｃoｎtrolｌｅrｓtｏreｓallｐroｇrａmdata oftheｒobotｉcsystｅｍ.Itcanstｏre sevｅrａldifferentpｒograms，ａndanyoftheseｐrｏgramｓ canbｅediteｄ.
Thecontrｏllｅr ｉsalsoreｑuiｒedtocommunicaｔeｗitｈｐerｉpherａleqｕｉpmentｗithintheworkcｅll。
Foreｘamplｅ，ｔhe coｎtrolleｒｈasaninpｕtlinｅtｈaｔidｅnｔiｆｉesｗｈeｎ ａmacｈiningoperatioｎｉscoｍpleted．Whenｔhemachiｎeｃｙcｌe iｓｃｏmpleted， tｈeｉnpｕtｌineｔuｒns ｏn，ｔeｌlingthｅｃonｔroｌlｅr to positiｏn themanipuｌatorｓo thatｉｔ can ｐickuｐｔhｅｆｉｎｉsｈedpａrt．Tｈｅn,a ｎeｗpartispickｅｄuｐbｙthｅmaｎiｐulatoranｄ pｌａｃedintoｔhemachｉｎe.Next，thｅcontrolｌer signalｓtheｍachinｅtoｓｔarｔ operatiｏｎ。
Tｈecontｒｏllercan be ｍadefroｍ ｍechanicallyoｐｅｒaｔeｄdrｕmsthatｓｔeｐ tｈrough aｓeqｕenｃeof eveｎts。
Thistype ｏfcontrolleropｅrａteｓwitha vｅrｙsiｍplｅrobotic system. Ｔhe controllｅrs fｏｕnｄontｈｅmaｊorityofrobｏtｉｃsｙstemsaremorｅｃoｍplexdevicesandrepresentstate—oｆ—ｔｈe-artｅｌectronics.Thatｉs， theyarｅmicropｒｏcｅssor—ｏpｅｒated.Theｓemiｃroproｃeｓsorsａｒeeitｈer 8-bit， 16—bit,oｒ32-ｂiｔ procｅｓsoｒs.Thiｓ ｐowerallowsthe contｒoｌlerto be veryflexｉｂle iｎitsoperaｔion.
Thecｏntroｌｌer canseｎｄelｅｃｔｒiｃsigｎalsoveｒ ｃoｍmuniｃation lｉnestｈａt alｌowｉt ｔoｔａｌkwiｔｈｔhe varｉｏus axesｏfmａｎｉpulａｔor.This ｔwo—waycommunicationbetweenthe ｒobot mａnipuｌatorandthe ｃontｒoｌｌermainｔainsａｃonstantｕpdａteofthｅlｏcaｔionａｎｄ thｅｏperatｉon ofｔhe syｓｔem． Ｔhecoｎtｒｏｌleraｌsocontrolsａnytoｏlｉｎgplacｅd ｏｎtheend ofthe rｏbot’swrisｔ.
Thecontrollｅｒ alsohasthe joｂofcomｍｕnicaｔｉngwith thediｆｆereｎt pｌaｎtcomｐｕterｓ．Ｔhe ｃｏmｍuｎicaｔｉonlｉnkｅstablｉshestherobotaｓpaｒtofａcomputｅr－assiｓｔedmａnufactｕrinｇ （CＡM）systｅm。
As ｔhe bａｓｉc deｆinｉｔionstaｔｅd，tｈeroboｔｉs ａ reｐrogrammabｌe， ｍuｌtiｆunctionalmａnipulator。
Therefore,tｈecontroller musｔconｔain sｏmeｔｙpeｏｆ ｍｅmoｒy storaｇe。
Tｈemicroprocessｏr-basedsystemsopｅrａｔein ｃonｊunｃtionwithｓｏlid-ｓtate memorydｅviｃes 。
Thｅｓeｍｅｍｏrｙ deviｃeｓ mａyｂemagnetｉcｂubｂles，random－accｅss memory,ｆｌoppydｉsｋｓ, or mａｇｎetic tape。
Eachmemorｙstｏragｅｄevicesｔoreｓ pｒｏgrａmｉnfｏｒmａtion fｏrｌater reｃallorｆorｅditiｎg。
C．Ｓeｎsors
Meaｓureｒoｂotｃonｆiguｒation／conｄｉｔion andｉtseｎｖiｒｏnmentsendsucｈinfoｒmationｔo rｏboｒcontrolleｒaｓeｌectrｏniｃ signals（e．g．,arｍpositioｎ，prｅsencｓoftｏxiｃｇaｓ）。
D．User iｎｔerfance
Thiｓ ｉstheparｔｆｏｒthe uｓerｔoopeｒatearobot,i。
e.，thｅｃｏntｒolpanel。
E. Mａｎiｐulatoｒ ｂase
A roboｔ maｙｗorkｉｎ aｆixｅｄbasｅ，ｏｒinamobilｅbase,thatｉs，ｉt ｃａｎ move aｂoutbyemploｙingｗhｅｅlｓ orlegｓ。
F. Ｐowersuｐｐly
The pｏwersupｐlyｉs the uniｔthatsuppｌies powｅrtothｅcoｎtrolleraｎd tｈeｍａｎipulator。
Ｔwotｙpesof pｏｗｅraｒedeｌiｖeredtｏtherｏｂotiｃｓystem.Onetｙｐeofpoweｒis thｅACpowerforｏｐeｒａｔｉon oftheｃｏntrollｅr 。
Thｅ ｏｔher tｙpｅofpoｗｅriｓｕsed foｒ ｄrivinｇtheｖａriｏusaxｅsoｆ ｔhemaniｐulａtｏｒ．Foｒexample , ifｔheroｂotmanipuｌatｏridｃontrolｌeｄ byhyｄｒａulｉｃorpｎeumatiｃmanipｕｌaｔorｄｒiｖeｓ ， conｔrｏlsｉgnalsaresｅnttotheｓedｅvices,causi
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